import launch
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, LogInfo, ExecuteProcess
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
    return LaunchDescription([
        # 启动 udp_lidar.launch
        ExecuteProcess(
            cmd=['ros2', 'launch', 'bluesea2', 'udp_lidar.launch'],
            output='screen'
        ),

        # 启动 lidar.launch.py
        ExecuteProcess(
            cmd=['ros2', 'launch', 'catographer_ros', 'lidar.launch.py'],
            output='screen'
        ),

        # 启动 ros2_dron_cpp Serial
        ExecuteProcess(
            cmd=['ros2', 'run', 'ros2_dron_cpp', 'Serial'],
            output='screen'
        ),
    ])